Modified InMoov head, part 3

by monnerby, published

Modified InMoov head, part 3 by monnerby Sep 25, 2015

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This is the third update in a series of modifications that I have made to the InMoov robot designed by Gaël Langevin at http://www.inmoov.fr.
This update focus on the eye mechanism. A raspberry PI camera module is mounted in the right eye and connected to a Raspberry Pi 2 mounted in the head.
Part one in this series is here http://www.thingiverse.com/thing:992918 and part two is here http://www.thingiverse.com/thing:994720.

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To be able to use this modification to the head, you need to use the parts from my previos post 1 and the brackets from post 2.
The eye mounts are not a direct replacement of the original eye mount,
since I have placed the servos in a space that is occupied by a servo in the original design.

This design use balljoints that you can find in shops selling RC servos. Thy also have the 2mm threaded rod that connects the balljoints.

Print two EyeV1, and one of each of the other parts. Drill the holes on the sides of the eye with a 2 mm drill. Drill the holes on the top and bottom of the eye with a 2.3 mm drill and then use 3mm tap to make a M3 thread.
Use the same procedure to make M3 threads in EyeGlassV3 and in the two middle holes of the larger part of EyeMountV2.
Drill 3mm holes in the small part of EyeMountV2 and four holes in EyeHolderV4.
Mount one balljoint in each eye. Make sure that the you mount the ball on the inside of the eyeball and on the right side.
Use the pictures for reference.
Drill a 2mm hole for a balljoint in Eyeholder4.
Place it so that it's closer to the servo side, so that the balljoint and rod can move freely.
Mount the balljoint to EyeHolderV4.
Mount the camera and lock it in place using CameraLockV1.
To lock it in place I melted the plastic a little bit with a soldering iron.
Then mount the eyes to EyeHolderV4 using M3 screws.
You may have to adjust the length of the screws to avoid that they hit the camera cable.
Then mount EyeholderV4 to EyeMountV2 using M3 screws.
Next mount the whole piece to EyeGlassV3 with long M3 screws. The holes are made so that the height can be adjusted.
Mount the servos in the brackets from post 2. You have to drill holes in the brackets to mount the servos.
Then make rods with a proper length to connect the servoarms to the balljoints on the eyes and eyeholder.
The BracketSupportV1 can be used to increase stability of the brackets. Just push in place.

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Looks great! I'm going to add this to my InMoov. Do you have a video of it working?

First test. The neck servo works fine. Jaw screw needs to be changed to increase speed of mouth movement. Eye servos are working but I'm missing some parts to connect them to the eyes. https://youtu.be/pKfioeEgTho

wouaa very nice perfect job i try to do for my inmoov thank you

thanks for posting this you sure put a lot of thought into it